#!/usr/bin/python
# coding=utf-8
import time
import rospy
import cv2 as cv
from geometry_msgs.msg import Twist
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from std_msgs.msg import Int8


class image_converter:
    def __init__(self):
        self.cmd_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10)			# 发布运动控制信息
        self.moveclean_cmd = rospy.Publisher("/moveclean_cmd", Int8, queue_size=10)
        self.clean_cmd = rospy.Publisher("/clean_cmd", Int8, queue_size=10)
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image, self.imageCallback)		# 订阅摄像头信息
        self.moveclean_report_sub = rospy.Subscriber("/moveclean_report", Int8, self.moveCleanReportCallback)
        self.clean_report_sub = rospy.Subscriber("/clean_report", Int8, self.cleanReportCallback)
        self.send_flag = True

    def imageCallback(self, data):
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")			# 获取订阅的摄像头图像
        except CvBridgeError as e:
            print e
        # cv.imshow("Original_Image", cv_image)

        # 对图像进行处理
        kernel = cv.getStructuringElement(cv.MORPH_RECT, (3, 3))		# 定义结构元素
        height, width = cv_image.shape[0:2]
        screen_center = width / 2
        screen_center_h = height / 2
        
        offset = 50
        offset_h = 30
        lower_b = (35, 43, 46)
        upper_b = (77, 255, 255)
        
        hsv_frame = cv.cvtColor(cv_image, cv.COLOR_BGR2HSV)				# 转成HSV颜色空间
        mask = cv.inRange(hsv_frame, lower_b, upper_b)								
        mask2 = cv.morphologyEx(mask, cv.MORPH_OPEN, kernel)			# 开运算去噪
        mask3 = cv.morphologyEx(mask2, cv.MORPH_CLOSE, kernel)			# 闭运算去噪
        # cv.imshow("mask", mask3)
        
        # 找出面积最大的区域
        _, contours, _ = cv.findContours(mask3, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
        maxArea = 0
        maxIndex = 0
        for i, c in enumerate(contours):
            area = cv.contourArea(c)
            if area > maxArea:
                maxArea = area
                maxIndex = i
        # 绘制轮廓
        cv.drawContours(cv_image, contours, maxIndex, (255, 255, 0), 2)		

        # 获取外切矩形
        x, y, w, h = cv.boundingRect(contours[maxIndex])
        cv.rectangle(cv_image, (x, y), (x + w, y + h), (255, 0, 0), 2)
        # 获取中心像素点
        center_x = int(x + w / 2)
        center_y = int(y + h / 2)
        cv.circle(cv_image, (center_x, center_y), 5, (0, 0, 255), -1)
		# 显示图像
        # cv.imshow("Image", cv_image)

        # 运动控制,左右转向和移动
        
        if center_x < screen_center - offset:
            twist = Twist()
            twist.linear.x = 0.02
            twist.linear.y = 0.0
            twist.angular.z = 0.03
            try:
                self.cmd_pub.publish(twist)
            except CvBridgeError as e:
                print e
            print "turn left"
        elif screen_center - offset <= center_x <= screen_center + offset:
            if self.send_flag:
                adjust_flag = Int8()          
                adjust_flag.data = 1
                i=0
                while(1):
                    time.sleep(0.1)
                    self.moveclean_cmd.publish(adjust_flag)
                    print "adjust start"
                    self.send_flag = False
                    i+=1
                    if(i==1):
                        break
            print "keep"
        elif center_x > screen_center + offset:
            twist = Twist()
            twist.linear.x = 0.02
            twist.linear.y = -0.2
            twist.angular.z = -0.03
            try:
                self.cmd_pub.publish(twist)
            except CvBridgeError as e:
                print e
            print "turn right"
        else:
            twist = Twist()
            twist.linear.x = 0
            twist.angular.z = 0
            try:
                self.cmd_pub.publish(twist)
            except CvBridgeError as e:
                print e
            print "stop"
        cv.waitKey(3)
		# 发布运动指令
        
    def cleanReportCallback(self, msg):
        report_clean_flag = msg.data #0 Normal, 1 Finish Cleaning, 2 Stop Moving, 3 Moving
        if report_clean_flag == 1:
            clean_flag = Int8()
            moveclean_flag = Int8()
            clean_flag.data = 3 
            moveclean_flag.data = 5
            self.moveclean_cmd.publish(clean_flag) # 2 start clean,3 stop clean
            self.clean_cmd.publish(moveclean_flag) #3 forward cleaning, 4 reverse cleaning, 5 stop cleaning
        elif report_clean_flag == 2:
            twist = Twist()
            twist.linear.x = 0
            twist.angular.z = 0
        elif report_clean_flag == 3:
            twist = Twist()
            twist.linear.x = 0.02
            twist.angular.z = 0

    def moveCleanReportCallback(self, msg):
        adjust_flag = msg.data
        if adjust_flag == 1:
            clean_flag = Int8()
            moveclean_flag = Int8()
            clean_flag.data = 2 
            moveclean_flag.data = 3
            self.moveclean_cmd.publish(clean_flag) # 2 start clean,3 stop clean
            self.clean_cmd.publish(moveclean_flag) #3 forward cleaning, 4 reverse cleaning

if __name__ == '__main__':
    try:
        rospy.init_node("cv_bridge_test")
        rospy.loginfo("Starting cv_bridge_test node")
        image_converter()
        rospy.spin()

    except KeyboardInterrupt:
        print "Shutting down cv_bridge_test node."
        cv.destroyAllWindows()
